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Adaptive Robust Control with Leakage-Type Control Law for Trajectory Tracking of Exoskeleton Robots
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作者 Jin Tian Xiulai Wang +1 位作者 Ningling Ma Yutao Zhang 《Advances in Internet of Things》 2024年第3期53-66,共14页
This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accuratel... This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accurately achieve the trajectory tracking control for exoskeletons. In this paper, we present a robust control of trajectory tracking control based on servo constraints. Firstly, we consider the uncertainties (e.g., modelling errors, initial condition deviations, structural vibrations, and other unknown external disturbances) in the exoskeleton system, which are time-varying and bounded. Secondly, we establish the dynamic model and formulate a close-loop connection between the dynamic model and the real world. Then, the trajectory tracking issue is regarded as a servo constraint problem, and an adaptive robust control with leakage-type adaptive law is proposed with the guaranteed Lyapunov stability. Finally, we conduct numerical simulations to verify the performance of the proposed controller. 展开更多
关键词 trajectory tracking Adaptive Robust control Exoskeleton Robots UNCERTAINTIES
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Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach 被引量:1
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作者 Yunjun Zheng Jinchuan Zheng +3 位作者 Ke Shao Han Zhao Hao Xie Hai Wang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第4期1007-1021,共15页
The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-base... The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances. 展开更多
关键词 Adaptive sliding mode barrier function nonholonomic wheeled mobile robot(NWMR) trajectory tracking control
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Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking
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作者 Chen AN Jiaxi ZHOU Kai WANG 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI CSCD 2024年第4期603-618,共16页
This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sl... This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies. 展开更多
关键词 aerial robot hierarchical control strategy model-free iterative sliding mode controller(MFISMC) trajectory tracking reinforcement learning
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Trajectory Tracking of Autonomous Vehicle with the Fusion of DYC and Longitudinal–Lateral Control 被引量:19
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作者 Fen Lin Yaowen Zhang +3 位作者 Youqun Zhao Guodong Yin Huiqi Zhang Kaizheng Wang 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2019年第1期212-227,共16页
The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with trajectory tracking and velocity tracking separately, and the ... The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with trajectory tracking and velocity tracking separately, and the yaw stability is seldom considered during trajectory tracking. In this research, a combination of the longitudinal–lateral control method with the yaw stability in the trajectory tracking for autonomous vehicles is studied. Based on the vehicle dynamics, considering the longitudinal and lateral motion of the vehicle, the velocity tracking and trajectory tracking problems can be attributed to the longitudinal and lateral control. A sliding mode variable structure control method is used in the longitudinal control. The total driving force is obtained from the velocity error in order to carry out velocity tracking. A linear time-varying model predictive control method is used in the lateral control to predict the required front wheel angle for trajectory tracking. Furthermore, a combined control framework is established to control the longitudinal and lateral motions and improve the reliability of the longitudinal and lateral direction control. On this basis, the driving force of a tire is allocated reasonably by using the direct yaw moment control, which ensures good yaw stability of the vehicle when tracking the trajectory. Simulation results indicate that the proposed control strategy is good in tracking the reference velocity and trajectory and improves the performance of the stability of the vehicle. 展开更多
关键词 Autonomous vehicle trajectory tracking Direct yaw MOMENT control(DYC) Model predictive control (MPC) Longitudinal–lateral control
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An Angle Trajectory Tracking for a 3-DOF Pneumatic Motion Platform by the NI Compact RIO Embedded System 被引量:1
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作者 Yuan-Ming Cheng Yu-Song Chen 《Journal of Mechanics Engineering and Automation》 2013年第1期14-21,共8页
An angle trajectory tracking of a 3-DOF (Degree Of Freedom) pneumatic motion platform by the NI Compact RIO control system was investigated. In this study, the positions of moving platform are changed by extension o... An angle trajectory tracking of a 3-DOF (Degree Of Freedom) pneumatic motion platform by the NI Compact RIO control system was investigated. In this study, the positions of moving platform are changed by extension or shortening of the three pneumatic cylinders. The response of pneumatic cylinder is relatively slow for motor actuator and can get a good single-axis trajectory control by traditional P controller, but the trajectory tracking of platform has a delay phenomenon for angle instantly larger change. To improve this situation in this study, Fuzzy system is used in the trajectory pre-compensation. By the angle changes and the angle rates of change in Fuzzy systems, the value of a pre-compensation output and each axis value are calculated using the Jacobian matrix after compensation in each axis. Through experiments, this Fuzzy pre-compensation method is proved to be able to improve the delay situation of angle trajectory tracking. 展开更多
关键词 Parallel mechanism Fuzzy controller Compact RIO trajectory tracking.
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Trajectory tracking control of the bionic joint of the musculoskeletal leg mechanism
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作者 雷静桃 Zhu Jianmin Wu Jiandong 《High Technology Letters》 EI CAS 2017年第2期117-124,共8页
Pneumatic artificial muscles(PAMs) have properties similar to biological muscles,which are widely used in robotics as actuators.It is difficult to achieve high-precision position control for robotics system driven by ... Pneumatic artificial muscles(PAMs) have properties similar to biological muscles,which are widely used in robotics as actuators.It is difficult to achieve high-precision position control for robotics system driven by PAMs.A 3-DOF musculoskeletal bionic leg mechanism is presented,which is driven by PAMs for quadruped robots.PAM is used to simulate the compliance of biological muscle.The kinematics of the leg swing is derived,and the foot desired trajectory is planned as the sinusoidal functions.The swing experiments of the musculoskeletal leg mechanism are conducted to analyse the extension and flexion of joints.A proportional integral derivative(PID) algorithm is presented for controlling the flexion/extension of the joint.The trajectory tracking results of joints and the PAM gas pressure are obtained.Experimental results show that the developed leg mechanism exhibits good biological properties. 展开更多
关键词 musculoskeletal leg mechanism SWING bionic joint trajectory tracking proportional integral derivative(PID) control
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An adaptive switching control approach for trajectory tracking of robotic manipulators 被引量:1
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作者 杨振 费树岷 +2 位作者 王芳 鲍安平 刘顾全 《Journal of Southeast University(English Edition)》 EI CAS 2016年第2期183-186,共4页
In order to design a suitable controller which can achieve accurate trajectory tracking and a good control performance, and guarantee the stability and robustness of a robot system due to external disturbances error a... In order to design a suitable controller which can achieve accurate trajectory tracking and a good control performance, and guarantee the stability and robustness of a robot system due to external disturbances error and internal parameter variations, an adaptive switching control strategy is proposed. The proposed scheme is designed under the condition of bounded distances and consists of an adaptive switching law and a PD controller. Based on the Lyapunov stability theory, it is proved that the proposed scheme can guarantee the tracking performance of the robotic manipulator and is adapted to varying unknown loads. Simulations are carded out on a two-link robotic manipulator, which illustrate the feasibility and validity of the proposed control scheme and the robustness for variational payloads. 展开更多
关键词 adaptive control switch control roboticmanipulator trajectory tracking
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Stabilization and trajectory tracking of autonomous airship's planar motion 被引量:7
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作者 Zhang Yan Qu Weidong +1 位作者 Xi Yugeng Cai Zili 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2008年第5期974-981,共8页
The stabilization and trajectory tracking problems of autonomous airship's planar motion are studied. By defining novel configuration error and velocity error, the dynamics of error systems are derived. By applying L... The stabilization and trajectory tracking problems of autonomous airship's planar motion are studied. By defining novel configuration error and velocity error, the dynamics of error systems are derived. By applying Lyapunov stability method, the state feedback control laws are designed and the close-loop error systems are proved to be uniformly asymptotically stable by Matrosov theorem. In particular, the controller does not need knowledge on system parameters in the case of set-point stabilization, which makes the controller robust with respect to parameter uncertainty. Numerical simulations illustrate the effectiveness of the controller designed. 展开更多
关键词 AIRSHIP planar motion STABILIZATION trajectory tracking ROBUSTNESS Lyapunov stability Matrosov theorem.
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Neural Network Based Robust Controller for Trajectory Tracking of Underwater Vehicles 被引量:7
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作者 罗伟林 邹早建 《China Ocean Engineering》 SCIE EI 2007年第2期281-292,共12页
A robust neural network controller (NNC) is presented for tracking control of underwater vehicles with uncertainties. The controller is obtained by using backstepping technique and Lyapunov function design in combin... A robust neural network controller (NNC) is presented for tracking control of underwater vehicles with uncertainties. The controller is obtained by using backstepping technique and Lyapunov function design in combination with neural network identification. Modeling errors and environmental disturbances are considered in the mathematical model. A twolayer neural network is introduced to compensate the modeling errors, while H∞ control strategy is used to achieve the L2-gain performance. The uniformly ultimately bounded (UUB) stabilities of tracking errors and NN weights are guaran- teed through the proposed controller. An on-line NN weights tuning algorithm is also propesed. Good performances of the tracking control system are illustrated bv the results of numerical simulations. 展开更多
关键词 underwater vehicle trajectory tracking robust control neural network
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Optimal Control of a Mackerel-Mimicking Robot for Energy Efficient Trajectory Tracking 被引量:7
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作者 Seunghee Lee Jounghyun Park Cheolheui Han 《Journal of Bionic Engineering》 SCIE EI CSCD 2007年第4期209-215,共7页
A robotic fish, BASEMACK1, is designed and fabricated by mimicking the shape of a live mackerel. Three DC servo-motors are serially linked together and actuated to mimic the mackerel's Carangiform motion. Hydrodynami... A robotic fish, BASEMACK1, is designed and fabricated by mimicking the shape of a live mackerel. Three DC servo-motors are serially linked together and actuated to mimic the mackerel's Carangiform motion. Hydrodynamic characteristics of a fish-mimetic test model are experimentally identified and utilized in order to numerically simulate fish swimming. The discrete set of kinematic and dynamic parameters are obtained by considering required horizontal and lateral forces and minimum energy consumption. Using the optimized parameter set, optimal control of the robot is studied. 展开更多
关键词 mackerel-mimicking robot optimal control trajectory tracking
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Comparative Study of Trajectory Tracking Control for Automated Vehicles via Model Predictive Control and Robust H-infinity State Feedback Control 被引量:13
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作者 Kai Yang Xiaolin Tang +3 位作者 Yechen Qin Yanjun Huang Hong Wang Huayan Pu 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2021年第4期168-181,共14页
A comparative study of model predictive control(MPC)schemes and robust Hstate feedback control(RSC)method for trajectory tracking is proposed in this paper.The main objective of this paper is to compare MPC and RSC co... A comparative study of model predictive control(MPC)schemes and robust Hstate feedback control(RSC)method for trajectory tracking is proposed in this paper.The main objective of this paper is to compare MPC and RSC controllers’performance in tracking predefined trajectory under different scenarios.MPC controller is designed based on the simple longitudinal-yaw-lateral motions of a single-track vehicle with a linear tire,which is an approximation of the more realistic model of a vehicle with double-track motion with a non-linear tire mode.RSC is designed on the basis of the same method as adopted for the MPC controller to achieve a fair comparison.Then,three test cases are built in CarSim-Simulink joint platform.Specifically,the verification test is used to test the tracking accuracy of MPC and RSC controller under well road conditions.Besides,the double lane change test with low road adhesion is designed to find the maximum velocity that both controllers can carry out while guaranteeing stability.Furthermore,an extreme curve test is built where the road adhesion changes suddenly,in order to test the performance of both controllers under extreme conditions.Finally,the advantages and disadvantages of MPC and RSC under different scenarios are also discussed. 展开更多
关键词 trajectory tracking Automated vehicles Model predictive control Robust H∞state feedback control
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Dynamics Modeling and Robust Trajectory Tracking Control for a Class of Hybrid Humanoid Arm Based on Neural Network 被引量:4
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作者 WANG Yueling JIN Zhenlin 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2009年第3期355-363,共9页
In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm(HHA), which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from mo... In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm(HHA), which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from motors, a multistep dynamics modeling strategy is proposed and a robust controller based on neural network(NN)-adaptive algorithm is designed. At the first step of dynamics modeling, the dynamics model of the reduced HHA is established by Lagrange method. At the second step of dynamics modeling, the parameter uncertain part resulting mainly from the idealization of the HHA is learned by adaptive algorithm. In the trajectory tracking controller, the radial basis function(RBF) NN, whose optimal weights are learned online by adaptive algorithm, is used to learn the upper limit function of the total uncertainties including frictions, disturbances, abrasion and pulse forces. To a great extent, the conservatism of this robust trajectory tracking controller is reduced, and by this controller the HHA can impersonate mostly human actions. The proof and simulation results testify the validity of the adaptive strategy for parameter learning and the neural network-adaptive strategy for the trajectory tracking control. 展开更多
关键词 hybrid humanoid arm dynamic modeling neural network adaptive control trajectory tracking
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Nonlinear trajectory tracking control of a new autonomous underwater vehicle in complex sea conditions 被引量:9
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作者 高富东 潘存云 +1 位作者 韩艳艳 张湘 《Journal of Central South University》 SCIE EI CAS 2012年第7期1859-1868,共10页
Autonomous underwater vehicles (AUVs) navigating in complex sea conditions usually require a strong control system to keep the fastness and stability. The nonlinear trajectory tracking control system of a new AUV in c... Autonomous underwater vehicles (AUVs) navigating in complex sea conditions usually require a strong control system to keep the fastness and stability. The nonlinear trajectory tracking control system of a new AUV in complex sea conditions was presented. According to the theory of submarines,the six-DOF kinematic and dynamic models were decomposed into two mutually non-coupled vertical and horizontal plane subsystems. Then,different sliding mode control algorithms were used to study the trajectory tracking control. Because the yaw angle and yaw angle rate rather than the displacement of the new AUV can be measured directly on the horizontal plane,the sliding mode control algorithm combining cross track error method and line of sight method was used to fulfill its high-precision trajectory tracking control in the complex sea conditions. As the vertical displacement of the new AUV can be measured,in order to achieve the tracking of time-varying depth signal,a stable sliding mode controller was designed based on the single-input multi-state system,which took into account the characteristic of the hydroplane and the amplitude and rate constraints of the hydroplane angle. Moreover,the application of dynamic boundary layer can improve the robustness and control accuracy of the system. The computational results show that the designed sliding mode control systems of the horizontal and vertical planes can ensure the trajectory tracking performance and accuracy of the new AUV in complex sea conditions. The impacts of currents and waves on the sliding mode controller of the new AUV were analyzed qualitatively and quantitatively by comparing the trajectory tracking performance of the new AUV in different sea conditions,which provides an effective theoretical guidance and technical support for the control system design of the new AUV in real complex environment. 展开更多
关键词 complex sea condition autonomous underwater vehicle (AUV) trajectory tracking sliding mode control
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Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems 被引量:6
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作者 Aquib Mustafa Narendra K.Dhar Nishchal K Verma 《IEEE/CAA Journal of Automatica Sinica》 EI CSCD 2020年第1期307-314,共8页
In this paper, an event-triggered sliding mode control approach for trajectory tracking problem of nonlinear input affine system with disturbance has been proposed. A second order robotic manipulator system has been m... In this paper, an event-triggered sliding mode control approach for trajectory tracking problem of nonlinear input affine system with disturbance has been proposed. A second order robotic manipulator system has been modeled into a general nonlinear input affine system. Initially, the global asymptotic stability is ensured with conventional periodic sampling approach for reference trajectory tracking. Then the proposed approach of event-triggered sliding mode control is discussed which guarantees semi-global uniform ultimate boundedness. The proposed control approach guarantees non-accumulation of control updates ensuring lower bounds on inter-event triggering instants avoiding Zeno behavior in presence of the disturbance. The system shows better performance in terms of reduced control updates, ensures system stability which further guarantees optimization of resource usage and cost. The simulation results are provided for validation of proposed methodology for tracking problem by a robotic manipulator. The number of aperiodic control updates is found to be approximately 44% and 61% in the presence of constant and time-varying disturbances respectively. 展开更多
关键词 Event-trigger inter execution time STABILITY sliding mode control trajectory tracking
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Trajectory tracking of powered parafoil based on characteristic model based all-coefficient adaptive control 被引量:2
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作者 TAN Pan-long SUN Qing-lin +3 位作者 JIANG Yu-xin ZHU Er-lin CHEN Zeng-qiang HE Ying-ping 《Journal of Central South University》 SCIE EI CAS CSCD 2017年第5期1073-1081,共9页
One of the primary difficulties in using powered parafoil(PPF) systems is the lack of effective trajectory tracking controllers since the trajectory tracking control is the essential operation for PPF to accomplish au... One of the primary difficulties in using powered parafoil(PPF) systems is the lack of effective trajectory tracking controllers since the trajectory tracking control is the essential operation for PPF to accomplish autonomous tasks. The characteristic model(CM) based all-coefficient adaptive control(ACAC) designed for PPF systems in horizontal and vertical trajectory control is proposed. The method is easy to use and convenient to adjust and test. Just a few parameters are adapted during the control process. In application, vertical and horizontal CMs are designed and ACAC controllers are constructed to control vertical altitude and horizontal trajectory of PPF based on the proposed CMs, respectively. Result analysis of different simulations shows that the applied ACAC control method is effective for trajectory tracking of the PPF systems and the approach guarantees the transient performance of the PPF systems with better disturbance rejection ability. 展开更多
关键词 powered PARAFOIL (PPF) CHARACTERISTIC model (CM) all-coefficient adaptive control (ACAC) trajectory tracking
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Pressure observer based adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic muscles 被引量:1
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作者 ZHU Xiao-cong TAO Guo-liang CAO Jian 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2007年第12期1928-1937,共10页
This paper presents a pressure observer based adaptive robust controller (POARC) for posture trajectory tracking of a parallel manipulator driven by three pneumatic muscles without pressure sensors. Due to model error... This paper presents a pressure observer based adaptive robust controller (POARC) for posture trajectory tracking of a parallel manipulator driven by three pneumatic muscles without pressure sensors. Due to model errors of the static forces and friction forces of pneumatic muscles, simplified average flow rate characteristics of valves, unknown disturbances of entire system, and unmeasured pressures, there exist rather severe parametric uncertainties, nonlinear uncertainties and dynamic uncertainties in modeling of the parallel manipulator. A nonlinear pressure observer is constructed to estimate unknown pressures on the basis of a single-input-single-output (SISO) decoupling model that is simplified from the actual multiple-input-multiple-output (MIMO) coupling model of the parallel manipulator. Then, an adaptive robust controller integrated with the pressure observer is developed to accomplish high precision posture trajectory tracking of the parallel manipulator. The experimental results indicate that the system with the proposed POARC not only achieves good control accuracy and smooth movement but also maintains robustness to disturbances. 展开更多
关键词 Pneumatic muscle Parallel manipulator Pressure observer Adaptive robust control trajectory tracking
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Control of trajectory tracking of two-wheeled differential spherical mobile robot 被引量:1
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作者 WANG Wei ZHANG Zhi-liang +1 位作者 GAO Ben-wen YI Ming 《Journal of Measurement Science and Instrumentation》 CAS CSCD 2020年第3期276-284,共9页
This paper presents a two-wheeled differential spherical mobile robot in view of the problems that the motion of spherical robot is difficult to control and the sensor is limited by the spherical shell.The robot is si... This paper presents a two-wheeled differential spherical mobile robot in view of the problems that the motion of spherical robot is difficult to control and the sensor is limited by the spherical shell.The robot is simple in structure,flexible in motion and easy to control.The kinematics and dynamics model of spherical mobile robot is established according to the structure of spherical mobile robot.On the basis of the adaptive neural sliding mode control,the trajectory tracking controller of the system is designed.During the simulation of the s-trajectory and circular trajectory tracking control of the spherical mobile robot,it is concluded that the spherical mobile robot is flexible in motion and easy to control.In addition,the simulation results show that the adaptive neural sliding mode control can effectively track the trajectory of the spherical robot.The adaptive control eliminates the influence of unknown parameters and disturbances,and avoids the jitter of left and right wheels during the torque output. 展开更多
关键词 mobile robot adaptive neural sliding mode control dynamics controller trajectory tracking
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The Fuzzy Neural Network Control Scheme With H∞ Tracking Characteristic of Space Robot System With Dual-arm After Capturing a Spin Spacecraft 被引量:1
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作者 Jing Cheng Li Chen 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2020年第5期1417-1424,共8页
In this paper,the dynamic evolution for a dualarm space robot capturing a spacecraft is studied,the impact effect and the coordinated stabilization control problem for postimpact closed chain system are discussed.At f... In this paper,the dynamic evolution for a dualarm space robot capturing a spacecraft is studied,the impact effect and the coordinated stabilization control problem for postimpact closed chain system are discussed.At first,the pre-impact dynamic equations of open chain dual-arm space robot are established by Lagrangian approach,and the dynamic equations of a spacecraft are obtained by Newton-Euler method.Based on the results,with the process of integral and simplify,the response of the dual-arm space robot impacted by the spacecraft is analyzed by momentum conservation law and force transfer law.The closed chain system is formed in the post-impact phase.Closed chain constraint equations are obtained by the constraints of closed-loop geometry and kinematics.With the closed chain constraint equations,the composite system dynamic equations are derived.Secondly,the recurrent fuzzy neural network control scheme is designed for calm motion of unstable closed chain system with uncertain system parameter.In order to overcome the effects of uncertain system inertial parameters,the recurrent fuzzy neural network is used to approximate the unknown part,the control method with H∞tracking characteristic.According to the Lyapunov theory,the global stability is demonstrated.Meanwhile,the weighted minimum-norm theory is introduced to distribute torques guarantee that cooperative operation between manipulators.At last,numerical examples simulate the response of the collision,and the efficiency of the control scheme is verified by the simulation results. 展开更多
关键词 Capturing operation calm motion control closed chain system dual-arm space robot recurrent fuzzy neural network H∞tracking characteristic
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Adaptive trajectory tracking control of two-wheeled self-balance robot 被引量:1
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作者 秦勇 《High Technology Letters》 EI CAS 2009年第1期38-43,共6页
Wheeled mobile robot is one of the well-known nonholonomic systems. A two-wheeled sell-balance robot is taken as the research objective. This paper carried out a detailed force analysis of the robot and established a ... Wheeled mobile robot is one of the well-known nonholonomic systems. A two-wheeled sell-balance robot is taken as the research objective. This paper carried out a detailed force analysis of the robot and established a non-linear dynamics model. An adaptive tracking controller for the kinematic model of a nonhotonomic mobile robot with unknown parameters is also proposed. Using control Lyapunov function (CLF), the controller's global asymptotic stability has been proven. The adaptive trajectory tracking controller decreases the disturbance in the course of tracking control and enhances the real-time control characteristics. The simulation result indicated that the wheeled mobile robot tracking can be effectively controlled. 展开更多
关键词 wheeled mobile robot adaptive control trajectory tracking asymptotic stability
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Trajectory Tracking of Vertical Take-off and Landing Unmanned Aerial Vehicles Based on Disturbance Rejection Control 被引量:4
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作者 Lu Wang Jianbo Su 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI 2015年第1期65-73,共9页
We investigate the trajectory tracking problem of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAV), and propose a practical disturbance rejection control strategy. Firstly, the nonlinear error model... We investigate the trajectory tracking problem of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAV), and propose a practical disturbance rejection control strategy. Firstly, the nonlinear error model is established completely by the modified Rodrigues parameters, while considering dynamics of the servo actuators. Then, a hierarchical control scheme is applied to design the translational and rotational controllers based on the time-scale property of each subsystem, respectively. And the linear extended state observer and auxiliary observer are used to deal with the uncertainties and saturation. At last, global stability of the closed-loop system is analyzed based on the singular perturbation theory. Simulation results show the effectiveness of the proposed control strategy. © 2014 Chinese Association of Automation. 展开更多
关键词 Aircraft control AIRSHIPS Closed loop control systems Closed loop systems Disturbance rejection LANDING Perturbation techniques State estimation TAKEofF Trajectories Unmanned vehicles VEHICLES
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